System configured to control and power a vehicle or vessel

ABSTRACT

A system configured to power a vehicle or vessel. The system may include an enhanced power control system. The enhanced power control system having a distributed architecture such that power conversion and/or management is provided for individual energy supplies and/or system loads. The distributed architecture of the power control system may enhance the power efficiency of the vehicle or vessel. The distributed architecture of the power control system may enable a plurality of different energy supplies and/or system loads to be incorporated into the power system in a selectable, configurable manner. This may facilitate the addition and/or subtraction of energy supplies and/or system loads from the system to customize the vehicle or vessel for a specific use and/or mission without having to reconfigure the power control system as a whole.

FIELD OF THE INVENTION

The invention relates to systems for powering and/or controllingsurveillance vehicles and/or vessels. In particular, the inventionrelates to systems that control a plurality of energy supplies andsystem loads associated with underwater surveillance vessels.

BACKGROUND OF THE INVENTION

Power systems having a plurality of different energy supplies to powerunmanned, underwater vessels and/or vehicles are known. Generally, thesehybrid power systems maintain the power sub-systems associated with theseparate power sources separate from each other. Each power source istypically used to power different sets of components.

The architecture of these power systems is usually rigid and requiresthat a predetermined set of energy supplies provide energy in apredictable manner. This architecture generally provides for acentralized control scheme that must be designed for the specificcombination of energy supplies to be used.

Similarly, conventional systems may extend this rigid, centralizedcontrol and power scheme to system loads. As such, these system may notenable different types of system loads to be accommodated through acommon interface for power and control.

SUMMARY

One aspect of the invention relates to a system configured to power avehicle or vessel. The system may include an enhanced power controlsystem. The enhanced power control system having a distributedarchitecture such that power conversion and/or management is providedfor individual energy supplies and/or system loads. The distributedarchitecture of the power control system may enhance the powerefficiency of the vehicle or vessel. The distributed architecture of thepower control system may enable a plurality of different energy suppliesand/or system loads to be incorporated into the power system in aselectable, configurable manner. This may facilitate the addition and/orsubtraction of energy supplies and/or system loads from the system tocustomize the vehicle or vessel for a specific use and/or missionwithout having to reconfigure the power control system as a whole.

In some implementations, the system may include a plurality of systemloads (e.g., a sensor configured to detect an environment parameter, acommunications device, a propulsion mechanism, a processing device,and/or other components), a plurality of energy supplies (e.g., one ormore power generators, one or more energy storage units, and/or otherenergy supplies), a power bus, a communication bus, a plurality of loadmanagement modules, a plurality of supply management modules, a systemmanagement processor, and/or other components.

In some implementations, the power bus and the communication bus mayoperatively couple the system loads, the energy supplies, and/or thesystem management processor. The power bus may distribute power betweenthe system components. The communication bus may enable communicationbetween the system components.

The system may include separate load management modules for individualones of the system loads. The load management modules may be operativelydisposed in the system between the buses and the corresponding systemloads. A given load management module may be configured to manage thedistribution of power to the corresponding system load from the powerbus and/or the power management of the corresponding system load. Thegiven load management module may be configured to control thecorresponding system load. The given load management module may controlthe corresponding system load in accordance with algorithms and/orinstructions received from the system management processor via thecommunication bus. As such, the given load management module may form aninterface between the corresponding system load and the rest of thesystem.

The load management modules may be configured to facilitatecustomization for a specific system load. Thus, by customizing anindividual load management module and then inserting the customizedindividual load management module and corresponding system load into thesystem, various system loads can be added to the system withoutreconfiguring the rest of system. Similarly, due to the distributednature of power distribution, power management, and/or system controleffected by the load management modules, system loads and theircorresponding load management modules can be removed from the systemwithout having to reconfigure other system loads and/or their loadmanagement modules.

Conventional systems tend to have more centralized, less customizablecontrol over energy supplies within a system. These systems aregenerally less flexible in that they are built with predetermined energysupplies included therein, and do not easily accommodate the addition ofother types of energy supplies (e.g., as technologies emerge and/orbecome more accessible). Further, conventional systems may not enablerelatively simple customization (e.g., for a particular mission or forother purposes) through the addition and/or removal of supplies.

Power may be distributed to a system load from the power bus through apower stage of a load management module that corresponds to the systemload. The power stage may convert power received from power bus to powersuitable for use by the system load. For example, the potential of powerobtained from the power bus may be too large (or too small) for directconnection with the system load. The power stage may convert otherparameters of the received power (e.g., DC to AC or vice versa, and/orother parameters).

The power stage may include one or more sensors that detect operationaland/or status information related to the power stage. For example, theone or more sensors may include one or more potential sensors, one ormore current sensors, one or more temperature sensors, and/or othersensors. The output signals generated by the sensors may be transmittedto a power controller of the load management module.

A power controller of the given load management module may be configuredto control the power stage of the given load management module locallyduring power conversion. For example, the power controller may controlone or more gate switches in the power stage to manipulate the operationof power stage. The control signals may be generated to maintain thepower provided to the corresponding system load with specific parametersand/or to maintain the uniformity of the parameters. The control signalsmay be generated by the power controller may be based in part onreadings of the sensors associated with the power stage in a feedbackmanner. For example, the control signals generated by the powercontroller may be determined in a feedback manner based on the readingof one or more current sensors, one or more potential sensors, one ormore temperature sensors, and/or other sensors. By including separatepower stages and power controllers for individual system loads, thesystem is capable of providing power having relatively high uniformitywith relatively low loss (e.g., by virtue of the relative speed of localfeedback control implemented by the power controller) to system loadsfrom power bus.

In some instances, the power controller may be configured to manage theparameters of the power provided by the power stage after conversion. Inmanaging the parameters of the power provided by the power stage afterconversion, the power controller may take into account the source of thepower provided to the power bus, the parameters of the power on thepower bus, the acceptable power parameters for the corresponding systemload, a mode of operation of the power stage and/or the system load,and/or other factors.

For example, the power controller may determine what the source of thepower provided to the power bus is (e.g., fuel cell, battery, solargenerator, waste energy harvester, and/or other sources). Differentsources may provide power to the power bus with different parameters(e.g., different polarities, potentials, maximum currents, and/or otherparameters). The power controller may adjust operation of the powerstage in accordance with the individual parameters of power provided byone or more sources.

As was mentioned above, the power controller may change the operation ofthe power stage between a plurality of modes. For instance, the powercontroller may switch operation of the power stage from a boost mode toa buck mode. Switching between the boost and buck modes may be based onthe source of power available on the power bus, one or more parametersof the power available on the power bus, and/or based on otherconsiderations.

In some implementations, the power controller may control its associatedpower stage to enhance switching dead-time within the power stage. Inorder to monitor and/or enhance switching dead-time, the powercontroller may monitor operation of the power stage via signalsgenerated by the one or more sensors associated with the power stage.

The power controller may monitor one or more parameters of the operationof the power stage for indications of fault and/or failure on the partof the power stage. For example, the power controller may monitor one ormore of stability margin, loss, temperature, and/or other parameters. Insome instances, the power controller may identify faults based on one ormore of the monitored parameters. Upon detecting a fault, the powercontroller may adjust operation of the power stage. Detected faults maybe transmitted by the power controller to a more centralized control(e.g., the system management processor).

In some implementations, the power controller may be configured on apermission basis by receiving mission specific control parameters and/orprograms. The control parameters and/or programs may be communicated tothe power controller, for example, over the communication bus. Themission specific parameters may include, for example, a distance to betraveled, a timing and/or duration of surveillance that should beconducted, what type of data should be gathered (e.g., what parameter(s)should be monitored), control of the territory in which the mission isto be conducted (e.g., hostile or friendly), and/or other parameters.

The inclusion of power stages and power controllers for individual onesof system loads provides individualized power interfaces for the systemloads. Each individualized set of power stage and power controller mayenable a particular system load to be incorporated into the overallpower system without reconfiguration of other system loads and/or theoverall power system. Since power stages and power controllers may bedesigned to facilitate customization to individual system loads, thisdistributed design may enhance overall customization of the system tovarious uses and/or missions.

The given load management module may include a load controller. The loadcontroller of the given load management module may be configured tocontrol the corresponding system load. Controlling the correspondingsystem load may include controlling one or more aspects of the operationof the system load. For example, the load controller may control a mode,a timing, a sensitivity, and/or other aspects of the correspondingsystem load. The load controller may transmit commands to the systemload that dictate the aspects of operation of the system load. Thecommands may be determined by the load controller based on one or moremission specific parameters, current operation of one or more of theenergy supplies, current operation of one or more other system loads,and/or other parameters. In some instances, the commands transmittedfrom the load controller to the corresponding system load may bedetermined according to control algorithms and/or instructions executedon the load controller. In some instances, the commands transmitted fromthe load controller to the corresponding system load may be determinedby translating, reformatting, or otherwise processing commands receivedat the load controller from an external source (e.g., the systemmanagement processor).

As should be apparent from the foregoing, the inclusion of loadcontrollers for individual ones of the system loads providesindividualized control interfaces between system loads and the rest ofthe system. Each individualized load controller enables a particularsystem load to be incorporated into the overall control system of systemwithout reconfiguration of system loads and/or the system as a whole.Since load controllers may be designed to facilitate customization toindividual system loads, this distributed control design may enhanceoverall customization of the system to various uses and/or missions.

The system may include separate supply management modules for individualones of the energy supplies. The supply management modules may beoperatively disposed in the system between the buses and thecorresponding energy supplies. A given supply management module may beconfigured to manage the distribution of power from the correspondingenergy supply to the power bus and/or the power management of thecorresponding energy supply. The given supply management module may beconfigured to control the corresponding energy supply and/or the flow ofpower therefrom. The given supply management module may control thecorresponding energy supply in accordance with algorithms and/orinstructions received from the system management processor via thecommunication bus. As such, the given supply management module may forman interface between the corresponding energy supply and the rest of thesystem.

The supply management modules may be configured to facilitatecustomization for a specific energy supply. Thus, by customizing anindividual supply management module and then inserting the customizedindividual supply management module and corresponding energy supply intothe system, various energy supplies can be added to the system withoutreconfiguring the rest of system. Similarly, due to the distributednature of power distribution, power management, and/or system controleffected by the supply management modules, energy supplies and theircorresponding supply management modules can be removed from the systemwithout having to reconfigure other energy supplies and/or their supplymanagement modules.

Conventional systems tend to have more centralized, less customizablecontrol over energy supplies within a system. These systems aregenerally less flexible in that they are built with predetermined energysupplies included therein, and do not easily accommodate the addition ofother types of energy supplies (e.g., as technologies emerge and/orbecome more accessible). Further, conventional systems may not enablerelatively simple customization (e.g., for a particular mission or forother purposes) through the addition and/or removal of supplies.

Power may be distributed from an energy supply to the power bus througha power stage of a supply management module that corresponds to theenergy supply. If the energy supply includes an energy storage unit,power may be distributed to the energy supply to the power bus duringenergy storage. The power stage may convert power in a manner similar tothat described above with respect to the power stage of a loadmanagement module. For example, the potential of power other parametersof the power (e.g., DC to AC or vice versa, and/or other parameters) maybe converted by the power stage.

The power stage may include one or more sensors that detect operationaland/or status information related to the power stage. For example, theone or more sensors may include one or more potential sensors, one ormore current sensors, one or more temperature sensors, and/or othersensors. The output signals generated by the sensors may be transmittedto a power controller of the load management module.

A power controller of the given supply management module may beconfigured to control the power stage of the given load managementmodule locally during power conversion in a manner similar to thatdescribed above for the load management module. As was discussed, thismay include controlling the power stage in a feedback manner based onthe reading of one or more current sensors, one or more potentialsensors, one or more temperature sensors, and/or other sensors. Byincluding separate power stages and power controllers for individualenergy supplies, the system is capable of providing power havingrelatively high uniformity with relatively low loss (e.g., by virtue ofthe relative speed of local feedback control implemented by the powercontroller) to the power bus from the energy supplies.

In some instances, the power controller may be configured to manage theparameters of the power provided by the power stage after conversion. Inmanaging the parameters of the power provided by the power stage afterconversion, the power controller may take into account other energysupplies providing power concurrently to the power bus, the parametersof the power on the power bus, the acceptable power parameters for thesystem loads drawing power from the power bus, a mode of operation ofthe power stage and/or the energy supply, and/or other factors.

The power controller may change the operation of the power stage betweena plurality of modes. For instance, the power controller may switchoperation of the power stage from a boost mode to a buck mode. Switchingbetween the boost and buck modes may be based on the parameters of powerto be made available on the power bus and/or based on otherconsiderations.

In some implementations, the power controller may control its associatedpower stage to enhance switching dead-time within the power stage. Inorder to monitor and/or enhance switching dead-time, the powercontroller may monitor operation of the power stage via signalsgenerated by the one or more sensors associated with the power stage.

The power controller may monitor one or more parameters of the operationof the power stage for indications of fault and/or failure on the partof the power stage. For example, the power controller may monitor one ormore of stability margin, loss, temperature, and/or other parameters. Insome instances, the power controller may identify faults based on one ormore of the monitored parameters. Upon detecting a fault, the powercontroller may adjust operation of the power stage. Detected faults maybe transmitted by the power controller to a more centralized control(e.g., the system management processor).

In some implementations, the power controller may be configured on apermission basis by receiving mission specific control parameters and/orprograms. The control parameters and/or programs may be communicated tothe power controller, for example, over the communication bus. Themission specific parameters may include, for example, a distance to betraveled, a timing and/or duration of surveillance that should beconducted, what type of data should be gathered (e.g., what parameter(s)should be monitored), control of the territory in which the mission isto be conducted (e.g., hostile or friendly), and/or other parameters.

The inclusion of power stages and power controllers for individual onesof the energy supplies provides individualized power interfaces for thepower supplies. Each individualized set of power stage and powercontroller may enable a particular energy supply to be incorporated intothe overall power system without reconfiguration of other energysupplies, system loads, and/or the overall power system. Since powerstages and power controllers may be designed to facilitate customizationto individual energy supplies, this distributed design may enhanceoverall customization of the system to various uses and/or missions.

The given supply management module may include a supply controller. Thesupply controller of the given supply management module may beconfigured to control the corresponding energy supply. Controlling thecorresponding energy supply may include controlling one or more aspectsof the operation of the energy supply. For example, the supplycontroller may control a mode, a timing, a coupling of the energy supplywith the power bus, a powering on or off of the energy supply, and/orother aspects of the corresponding energy supply. The supply controllermay transmit commands to the energy supply that dictate the aspects ofoperation of the system load. The commands may be determined by thesupply controller based on one or more mission specific parameters,current operation of one or more other energy supplies, currentoperation of one or more of the system loads, and/or other parameters.In some instances, the commands transmitted from the supply controllerto the corresponding energy supply may be determined according tocontrol algorithms and/or instructions executed on the supplycontroller. In some instances, the commands transmitted from the supplycontroller to the corresponding energy supply may be determined bytranslating, reformatting, or otherwise processing commands received atthe supply controller from an external source (e.g., the systemmanagement processor).

As should be apparent from the foregoing, the inclusion of supplycontrollers for individual ones of the energy supplies providesindividualized control interfaces between energy supplies and the restof the system. Each individualized supply controller enables aparticular energy load to be incorporated into the overall controlsystem of system without reconfiguration of other energy supplies,system loads, and/or the system as a whole. Since supply controllers maybe designed to facilitate customization to individual energy supplies,this distributed control design may enhance overall customization of thesystem to various uses and/or missions.

The system management processor may provide control algorithms,instructions, and/or commands to the load management modules and theenergy supply modules to manage the operation of the system loads andthe energy supplies in a coordinated manner. The algorithms,instructions, and/or commands may include overall control algorithmsand/or instructions that are provided individually to the loadmanagement modules and the energy supply modules to be implementedthroughout a mission. The algorithms, instructions, and/or commands mayinclude updated algorithms, instructions, and/or commands that alterongoing operation in light of changing environmental circumstances(e.g., as detected by one of the system loads, as received by externalcommunication, or otherwise determined), changes in ongoing systemoperations (e.g., to adjust for a system fault or failure), and/or basedon other changes impacting the system.

The system management processor may provide an interface between thesystem loads and/or the energy supplies. This interface may enableinformation obtained and/or generated by one system load or energysupply (e.g., environmental information, operational information,communication information, and/or other information) to be communicatedto other system loads, other energy supplies, and/or to be communicatedto one or more external entities. The interface provided by the systemmanagement processor may enable commands, algorithms, and/orinstructions to be communicated to one or more of the energy suppliesand/or system loads from a user. For example, this type of informationmay be communicated to the system management processor via a userinterface 25, via one or more of system loads 12 that comprise acommunications device, and/or otherwise communicated to the systemmanagement processor. The system management processor may then transmitthe received information to the appropriate ones of system loads and/orenergy supplies.

Another aspect of the invention relates to a kinetic energy conversionsystem. The kinetic energy conversion system may be implemented in anoverall system that is configured to power a vehicle or vessel and itsassociated peripherals. The kinetic energy conversion system may beimplemented, for example, in a maritime vessel. In some implementations,the kinetic energy conversion system may include one or more flow paths,one or more impellers, a generator, and/or other components.

The flow path may be configured to guide fluid past the impellers. Insome implementations, the fluid may include water in which the vesselcarrying the kinetic energy conversion system is at least partiallysubmerged. If the vessel is being driven through the water, the flowpath may be oriented such that the water flows through the flow pathpast the impellers. The flow of water past the impellers may drive theimpellers to rotate, which may in turn drive the generation of power bya generator.

In some instances, the flow path may be carried on the vessel such thatit can be retracted or closed off from the water. In such instances, theflow path may be retracted or closed off from the water while thekinetic energy conversion system is not being used to generate power.

In some implementations, water flowing through the flow path may notdrive the impellers at a constant rate. Coupling the impellers directlyto the generator in these implementations may result in damage to thegenerator and/or reduced efficiency in the power generation of thegenerator as the rate of rotation of the impellers changes. As such, insome instances, torque converters may be included in the kinetic energyconversion system between the impellers and the generator. The torqueconverters may provide for relatively constant rotation rate of one ormore elements within the generator, thereby enhancing the longevity,efficiency, and/or other aspects of the operation of the generator.

As has been mentioned above, the kinetic energy conversion system may beinstalled on a maritime vessel. In such a configuration, kinetic energyconversion system may be deployed by opening the flow path to the waterthrough which the vessel is moving. This may result in a flow of waterthrough the flow path. The flow of water may cause the impellers torotate, thereby enabling the generator to generate power. It should beappreciated that there may be some loss in aerodynamics associated withexposing the flow path to the water through which the vessel is moving.As such, generation of the kinetic energy conversion system in thismanner may be somewhat parasitic to the overall vessel. However, theparasitic loss may be small enough and/or the benefits associated withgenerating power through the kinetic energy conversion system duringmovement may be sufficient to justify the inefficiencies. Further, attimes when the parasitic loss of energy and/or speed becomes greaterthan can be justified, the flow path may be closed off and/or retractedfrom the water.

If the vessel including the kinetic energy conversion system is at rest(e.g., anchored at a fixed point underwater), the flow path may beexposed to the water about the vessel. While the vessel is at rest,water may still flow through the flow path due to currents (e.g., tides,flow of rivers or creeks, and/or other currents). In these instances,kinetic energy conversion system may harvest environmental energy.

Another aspect of the invention relates to a waste energy harvestingsystem. The waste energy harvesting system may be implemented in anoverall system that is configured to power a vehicle or vessel and itsassociated peripherals. For example, the waste energy harvesting systemmay be implemented in a maritime vessel. In some implementations, thewaste energy harvesting system may include a fuel cell, a steamgenerator, a cold plate, and/or other components.

The fuel cell may operate at a relatively high temperature. The wasteenergy harvesting system may be configured to harvest waste energyradiated from the fuel cell in the form of heat.

The steam generator may be configured to generate power from a flow offluid that is vaporized by exposure to the exterior of the fuel cellduring operation. The steam generator may include, for example, one ormore turbines that are driven by the flow of the fluid therethrough.

The cold plate may be configured to receive vapor that has passedthrough the steam generator, and to condense the vaporized fluid. Assuch, the cold plate may form a heat sink in which the received vapor iscooled back to below its critical temperature so that it returns toliquid form. The cold plate may be formed as a body having one or moreconduits therein that receive fluid that has passed through the steamgenerator. In order to facilitate cooling of fluid within the conduitsof the cold plate, the cold plate may be in thermal communication withthe hull of the vessel carrying the waste energy harvesting system. Forexample, the body of the cold plate in which the one or more conduitsare formed may be in direct contact with the hull of the vessel. In someimplementations, the hull of the vessel itself may form the cold plate,and have the conduits formed therein.

In some implementations, the cold plate may be configured to increasethe area over which the hull and the cold plate are in contact. Forexample, the shape of the cold plate may be configured to conform to theshape of the hull of the vessel. This may increase the length of thepath that fluid within the cold plate travels in thermal communicationwith the hull of the vessel and the water in which the vessel is atleast partially submerged. As such, the conformance of the shape of thecold plate with the hull of the vessel may increase the effectiveness ofthe heat sink formed by the cold plate.

Another aspect of the invention relates to an environmental energyharvesting system, in accordance with one or more implementations. Theenvironmental energy harvesting system may be implemented in an overallsystem that is configured to power an underwater vessel and itsassociated peripherals. The vessel may be an unmanned, underwatervessel, and may include a main hull. In some implementations, theenvironmental energy harvesting system may include a sensor module, oneor more solar cells, and/or other components.

In some instances, the sensor module may include one or more sensorsconfigured to monitor one or more environmental parameters. The one ormore environmental parameters may include a temperature, a current, awind speed, an electromagnetic radiation intensity, an electromagneticradiation frequency, radio frequency signals, sonic waves, and/or otherenvironmental parameters.

The sensor module may be buoyant such that it floats on water. Duringdeployment of the sensor module for monitoring the one or moreenvironmental parameters, the main hull may remain submerged underwater.

The one or more solar cells may be disposed on the sensor module suchthat when the sensor module is deployed the one or more solar cells areexposed to electromagnetic radiation from the sun. In response to theexposure to electromagnetic radiation from the sun, the one or moresolar cells generate power. Some or all of the power generated from thereceived electromagnetic radiation may be transmitted to the main hullof the underwater vessel for use in the main power system of theunderwater vessel.

These and other objects, features, and characteristics of the presentinvention, as well as the methods of operation and functions of therelated elements of structure and the combination of parts and economiesof manufacture, will become more apparent upon consideration of thefollowing description and the appended claims with reference to theaccompanying drawings, all of which form a part of this specification,wherein like reference numerals designate corresponding parts in thevarious figures. It is to be expressly understood, however, that thedrawings are for the purpose of illustration and description only andare not intended as a definition of the limits of the invention. As usedin the specification and in the claims, the singular form of “a”, “an”,and “the” include plural referents unless the context clearly dictatesotherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a system have a plurality of system loads and energysupplies for power the system, according to one or more implementationsof the invention.

FIG. 2 illustrates a load management module, in accordance with one ormore implementations of the invention.

FIG. 3 illustrates a supply management module, in accordance with one ormore implementations of the invention.

FIG. 4 illustrates a kinetic energy conversion system, according to oneor more implementations of the invention.

FIG. 5 illustrates a waste energy harvesting system, according to one ormore implementations of the invention.

FIG. 6 illustrates a waste energy harvesting system, according to one ormore implementations of the invention.

FIG. 7 illustrates a waste energy harvesting system, according to one ormore implementations of the invention.

FIG. 8 illustrates a waste energy harvesting system, according to one ormore implementations of the invention.

FIG. 9 illustrates an environmental energy harvesting system, inaccordance with one or more implementations of the invention.

DETAILED DESCRIPTION

FIG. 1 illustrates a system 10 having a plurality of system loads 12 andenergy supplies 14 for powering the system, in accordance with one ormore implementations. System 10 may include a surveillance system,and/or other systems. The surveillance system may be configured for usein a military and/or research setting. System 10 may include a vehicleor vessel designed to gather information about its surroundings, and/orother vehicles or vessels. For example, system 10 may include a maritimevessel (e.g., a buoy, a boat, an underwater vessel, and/or othervessels). The maritime vessel may be configured for unmanned operation.System 10 may provide an enhanced power control system. The enhancedpower control system may enhance the efficiency of system 10, the dutycycle of system 10, the reliability of system 10, and/or other aspectsof the operation of system 10. In some implementations, system 10 mayinclude system loads 12, energy supplies 14, a power bus 16, acommunication bus 18, a plurality of load management modules 20, aplurality of supply management modules 22, a system management processor24, and/or other components.

In some implementations, system loads 12 may include system componentsthat are payloads in that they require power to perform their associatedfunctionality. The functionality associated with the different systemloads 12 may be varied. For example, system loads 12 may include one ormore of a sensor configured to detect an environment parameter, acommunications device, a propulsion mechanism, a processing device,and/or other components.

A sensor configured to detect an environment parameter may include asensor that detects one or more of a temperature (water and/or air),motion, sound waves (audible and/or non-audible), electromagneticradiation, seismic activity, and/or other parameters. A sensorconfigured to detect an environment parameter may include a sensor thatcaptures images of its environment. These may include still and/or videoimages.

A communications device may include a device that enables communicationwithin system 10 and/or with external entities. The informationcommunicated with an external entity by system 10 via a communicationsdevice may include system information, information related to detectedenvironmental parameters, system control information, locationinformation, and/or other information. Some non-limiting examples of acommunications device may include an antennae, a transmitter, atransponder, a modulator/demodulator, and/or other devices.

A propulsion mechanism may include a mechanism for enabling locomotionof system 10. This may include mechanisms that enable guidance and/orsteering of system 10 as well as or instead of just linear motion. Inimplementations where system 10 includes a maritime vessel, a propulsionmechanism may include, for example, an engine driven propeller, athruster, an engine driven impeller, and/or other propulsion mechanisms.

A processing device may include a device that processes signals and/orinformation within system 10. In some instances, one or more of thesensors and/or communications devices may include processing devices(e.g., microprocessors and/or other processing devices). In someinstances, a processing device may include a processor or controllerthat executes the functionality attributed below system managementprocessor.

According to various implementations, energy supplies 14 include systemcomponents capable of providing power to system loads 12 (e.g., viapower bus 16). These components may include power generators, energystorage units (e.g., a battery), and/or other components.

One or more of energy supplies 14 may include a fuel cell. In someimplementations, the fuel cell may include a solid-oxide fuel cell. Thefuel cell may provide a primary source of power within system 10. One ormore parameters of the fuel cell may be determined based on a vehicleand/or vessel included in system 10, the nature of the functionality ofsystem loads 12, and/or other aspects of system 10. For example, one ormore of the type of fuel, the fuel-reforming approach, the catalyticsteam reforming, the type of fuel cell, and/or other parameters may bedetermined based on these aspects of system 10.

One or more of energy supplies 14 may include a waste energy harvesterthat harvests waste heat generated by one of the other energy supplies14. For example, as is discussed further below, the waste energyharvester may harvest waste heat generated by a fuel cell to provide anadditional source of power within system 10.

One or more of energy supplies 14 may include a parasitic energygenerator that generates power during operation one or more of systemloads 12. For instance, as is discussed further below, inimplementations where system 10 includes a maritime vessel the parasiticenergy generator may convert a portion of the kinetic energy of thevessel generated by a system load 12 that includes a propulsionmechanism into power. By way of example, the parasitic energy generatormay include one or more impellers that are driven by fluid through whichthe vessel is moving. Rotation of the impellers by the fluid may providebe implemented by a generator coupled with the impellers to providepower within system 10.

One or more of energy supplies 14 may generate power from energyavailable in the environment surrounding system 10. For example, oneenergy supply 14 may include one or more solar cells that convertelectromagnetic radiation from the sun to power that is usable withinsystem 10. As another example, one energy supply 14 may include a powergenerator that converts tidal energy of the ocean into power that isusable within system 10.

As was mentioned above, one or more energy supply 14 may include anenergy storage unit, such as one or more batteries, one or morecapacitors, or other devices. As a non-limiting example, the energystorage unit may include a lithium-ion battery. An energy storage unitmay be used to selectively distribute (e.g., via power bus 16)previously stored power to system loads 12. For instance, if the otherenergy supplies 14 are not generating power sufficient for the operationof system loads 12, power may be distributed from the energy storageunit to supplement the power being generated. The power stored withinthe energy storage unit may include power stored prior to thecommencement of a mission or task by system 10, and/or may include powerderived from the other energy supplies 14 during a mission or task.

In some implementations, power bus 16 includes a power distribution busthat enables power to be distributed between system loads 12 and energysupplies 14. For example, power bus 16 may include a DC powerdistribution bus or an AC power distribution bus. During operation,power bus 16 may be maintained at an operating potential (e.g., withpower supplied by one or more of energy supplies 14). The operatingpotential may be fixed and/or may be selectively controlled (e.g., bysystem management processor 24). The operating potential may bedetermined based on one or more system parameters, such as for example,energy potentials of energy supplies 14, operating potentials of systemloads 12, and/or other system parameters. Although a power bus 16 isillustrated above as a single bus, the concepts described with respectto power bus 16 could easily be extended to multiple buses to facilitatesystem efficiency and/or redundancy.

According to various implementations, communication bus 18 may enablecommunication between various components of system 10 (e.g., asillustrated in FIG. 1). The information transmitted over communicationbus 18 may include mission or task-specific parameters, controlinformation, sensor and/or status outputs, power management information,diagnostic and/or fault information, and/or other information. As is setforth below, in some implementations various high-speed, feedbackcontrol may be executed locally on the individual load managementmodules 20 and/or supply management modules 22. As such, the bandwidthrequirements for communication via communication bus 18 may be reduced.In some instances, communication bus 18 may include a bus that isphysically connected to a plurality of load management modules 20,supply management module 22, and/or system management processor 24. Insome instances, communication bus 18 may include components that enablewireless communication between at least some of load management modules20, supply management modules 22, and/or system management processor 24.Although a communications bus 18 is illustrated above as a single bus,the concepts described with respect to communications bus 18 couldeasily be extended to multiple buses to facilitate system efficiencyand/or redundancy.

Load management modules 20 may be configured to manage the distributionof power to individual ones of system loads 12 and/or power managementof individual ones of system loads 12. The power distributed to systemloads 12 by load management modules 20 may be obtained from power bus16. Load management modules 20 may be configured to control individualones of system loads 12. The load management modules 20 may controlsystem loads 12 in accordance with algorithms and/or instructionsreceived from system management processor 24. As such, load managementmodules 20 form an interface between individual system loads 12 and therest of system 10 that enables various system loads 12 to be added orremoved from system 10 without reconfiguring the rest of system 10. Thedistributed nature of power distribution, power management, and/orsystem control effected by load management modules 20 may enhance system10 over conventional systems.

For example, conventional systems tend to have more centralized controlover the distribution of power and/or the management of power within asystem. These systems are generally less flexible in that they are builtwith certain types of components in mind, and do not easily accommodateother components. Further, conventional systems may not enablerelatively simple customization (e.g., for a particular mission or forother purposes) through the addition and/or removal of loads.

Supply management modules 22 may be configured to manage thedistribution of power generated and/or stored by energy supplies 14 tosystem 10. Supply management modules 22 may be configured to control thepower management of individual ones of system supplies 14. Supplymanagement modules 22 may be configured to control individual ones ofenergy supplies 14. The supply management modules 22 may control energysupplies 14 in accordance with algorithms and/or instructions receivedfrom system management processor 24. Similar to the functionality ofload management modules 20 with respect to system loads 12, supplymanagement modules 22 form an interface between individual energysupplies 14 and the rest of system 10 that enables various energysupplies 14 to be added or removed from system 10 without reconfiguringthe rest of system 10. The distributed nature of power distributioncontrol, power management, and/or system control effected by supplymanagement modules 22 may enhance system 10 over conventional systems.

For example, conventional systems tend to have more centralized, lesscustomizable control over energy supplies within a system. These systemsare generally less flexible in that they are built with predeterminedenergy supplies included therein, and do not easily accommodate theaddition of other types of energy supplies (e.g., as technologies emergeand/or become more accessible). Further, conventional systems may notenable relatively simple customization (e.g., for a particular missionor for other purposes) through the addition and/or removal of supplies.

System management processor 24 may include one or more of a digitalprocessor, an analog processor, a digital circuit designed to processinformation, an analog circuit designed to process information, a statemachine, and/or other mechanisms for electronically processinginformation. System management processor 24 may be configured to providesystem-level, over system loads 12 and energy supplies 14. Thesystem-level control provided by system management processor 24 mayenable coordinated control over system loads 12 and/or energy supplies14 in accordance with predetermined objectives, algorithms, and/orinstructions. As such, system management processor 24 may be operativelylinked to load management modules 20 and supply management modules 22(e.g., via communication bus 18).

System management processor 24 may provide control algorithms,instructions, and/or commands to load management modules 20 to managethe operation of system loads 12 in a coordinated manner. Thealgorithms, instructions, and/or commands may include overall controlalgorithms and/or instructions that are provided individually to loadmanagement modules 20 to be implemented by load management modules 20throughout a mission. The algorithms, instructions, and/or commands mayinclude updated algorithms, instructions, and/or commands that alterongoing operation of load management modules 20 in light of changingenvironmental circumstances (e.g., as detected by one or system loads12, as received by external communication, or otherwise determined),changes in ongoing system operations (e.g., to adjust for a system faultor failure), and/or based on other changes impacting system 10.

System management processor 24 may provide control algorithms,instructions, and/or commands to supply management modules 22 to managethe operation of energy supplies 14 in a coordinated manner. Thealgorithms, instructions, and/or commands may include overall controlalgorithms and/or instructions that are provided individually to supplymanagement modules 22 to be implemented by supply management modules 22throughout a mission. For example, system management processor 24 maymanage supply management modules 22 such that energy is provided topower bus 16 by energy supplies 14 in an efficient and coordinatedmanner. This may include ensuring that power bus 16 is maintained at apredetermined potential, managing the amount of power that is lost byenergy supplies 14, coordinating which ones of energy supplies 14 areproviding power to power bus 16 at a given time, and/or other controlfunctions. The algorithms, instructions, and/or commands may includeupdated algorithms, instructions, and/or commands that alter ongoingoperation of load management modules 20 in light of changingenvironmental circumstances (e.g., as detected by one or system loads12, as received by external communication, or otherwise determined),changes in ongoing system operations (e.g., to adjust for a system faultor failure), and/or based on other changes impacting system 10.

System management processor 24 may provide an interface between systemloads 12 and/or energy supplies 14. This interface may enableinformation obtained and/or generated by one system load 12 (e.g.,environmental information, operational information, communicationinformation, and/or other information) to be communicated to othersystem loads 12, load management modules 20, supply management module22, energy supplies 14, and/or to be communicated to one or moreexternal entities. The interface provided by system management processor24 may enable commands, algorithms, and/or instructions to becommunicated to one or more of load management modules 20 and/or supplymanagement modules 22 from a user. For example, this type of informationmay be communicated to system management processor 24 via a userinterface 25, via one or more of system loads 12 that comprise acommunications device, and/or otherwise communicated to systemmanagement processor 24. System management processor 24 may thentransmit the received information to the appropriate ones of loadmanagement modules 20 and/or supply management modules 22.

User interface 25 is configured to provide an interface between system10 and one or more users through which the user(s) may provideinformation to and receive information from system management processor24. This may enable data, results, and/or instructions and any othercommunicable items, collectively referred to as “information,” to becommunicated between the users(s) and one or more of system loads 12,energy supplies 14, load management modules 20, supply managementmodules 22, system management processor 24, and/or other components ofsystem 10. Examples of interface devices suitable for inclusion in userinterface 25 include a keypad, buttons, switches, a keyboard, knobs,levers, a display screen, a touch screen, speakers, a microphone, anindicator light, an audible alarm, and a printer.

It is to be understood that other communication techniques, eitherhard-wired or wireless, are also contemplated by the present inventionas user interface 25. The mechanisms for effecting such communicationmay be provided by one or more of system loads 12. For example, thepresent invention contemplates that user interface 25 may be integratedwith a removable storage interface. In this example, information may beloaded into system 10 from removable storage (e.g., a smart card, aflash drive, a removable disk, etc) that enables the user(s) tocustomize the implementation of system 10. Other exemplary input devicesand techniques adapted for use with system 10 as user interface 25include, but are not limited to, an RS-232 port, RF link, an IR link,other wireless link(s), modem (telephone, cable or other), and/or othercommunications links. In short, any technique for communicatinginformation with system management processor 24 is contemplated by thepresent invention as user interface 25.

FIG. 2 illustrates one of load management modules 20, in accordance withone or more implementations. In the implementations illustrated in FIG.2, load management module 20 may include one or more of a power stage26, a power controller 28, a load controller 30, and/or othercomponents.

Power stage 26 may be coupled to power bus 16 and a system load 12corresponding to load management module 20. Power may be distributed tosystem load 12 from power bus 16 through power stage 26. Power stage 26may convert power received from power bus 16 to power suitable for useby system load 12. For example, the potential of power bus 16 may be toolarge for direct connection with system load 12. In some instances powerstage 26 may convert power received from power bus 16 to power suitablefor use by one or more sensors that detect operational parameters and/orstatus of system load 12, and/or to power suitable for use by powercontroller 28. For example, power stage 26 may convert power receivedfrom power bus 16 to power at one or more lower potentials (e.g.,potential(s) for sensors, potential for system load 12, and/or otherpotentials). Power stage 26 may convert other parameters of the receivedpower (e.g., DC to AC or vice versa, and/or other parameters).

Although not shown as separate elements in FIG. 2, power stage 26 mayinclude one or more sensors that detect operational and/or statusinformation related to power stage 26. For example, the one or moresensors may include one or more potential sensors, one or more currentsensors, one or more temperature sensors, and/or other sensors. Theoutput signals generated by the sensors may be transmitted to powercontroller 28, as shown in FIG. 2.

Power controller 28 may be configured to control power stage 26 duringpower conversion. In some implementations, power controller 28 mayinclude one or more processors having processing and/or controlcapabilities. For example, power controller 28 may include a digitalprocessor, an analog processor, a digital circuit designed to processinformation, an analog circuit designed to process information, a statemachine, and/or other mechanisms for electronically processinginformation. In some implementations, power controller 28 includes aField Programmable Gate Array (“FPGA”) designed to perform some or allof the functionality attributed to power controller 28 below. In someimplementations, power controller 28 is configured by softwareinstructions and/or algorithms, firmware, hardware, and/or somecombination of software, firmware, and/or hardware to perform thefunctionality described below. Although power controller 28 isillustrated in FIG. 2 as a single entity, it should be appreciated thatpower controller 28 may be implemented in a plurality of chips,processors, and/or circuits that are located together or apart from oneanother. In some implementations, power controller 28 may include apower conversion controller 32, a power management controller 34, and/orother components.

Power conversion controller 32 may be configured to control parametersof power stage 26 during power conversion. For example, power conversioncontroller 32 may control one or more gate switches in power stage 26 tomanipulate the operation of power stage 26. During operation, powerconversion controller 32 may control power stage 26 through thegeneration of control signals transmitted to the gates of power stage26. The control signals may be generated to maintain the power providedto the corresponding system load 12 with specific parameters and/or tomaintain the uniformity of the parameters. The control signals may begenerated by power conversion controller 32 based in part on readings ofthe sensors included in power stage 26 in a feedback manner. Forexample, the control signals generated by power conversion controller 32may be determined in a feedback manner based on the reading of one ormore current sensors, one or more potential sensors, one or moretemperature sensors, and/or other sensors. The feedback control of powerstage 26 by power conversion controller 32 may ensure the uniformity ofpower converted by power stage 26. By including separate power stages 26and power conversion controllers 32 for individual system load 12,system 10 is capable of providing power having relatively highuniformity (e.g., by virtue of the local feedback control implemented bypower conversion controller 30) to system loads 12 from power bus 16.

Power management controller 34 may be configured to control powerconversion controller 32 to manage the parameters of the power providedby power stage 26 after conversion. In managing the parameters of thepower provided by power stage 26 after conversion, power managementcontroller 34 may take into account the source of the power provided topower bus 16, the parameters of the power on power bus 16, theacceptable power parameters for system load 12, a mode of operation ofpower stage 26 and/or system load 12, and/or other factors.

For example, power management controller 34 may determine what thesource of the power provided to power bus 16 is (e.g., fuel cell,battery, solar generator, waste energy harvester, and/or other sources).Different sources may provide power to power bus 16 with differentparameters (e.g., different polarities, potentials, maximum currents,and/or other parameters). Power management controller 34 may adjustoperation of power conversion controller 32 in accordance with theindividual parameters of power provided by one or more sources.

As was mentioned above, power management controller 34 may change theoperation of power conversion controller 32 and/or power stage 26between a plurality of modes. For instance, power management controller34 may switch operation of power conversion controller 32 and powerstage 26 from a boost mode to a buck mode. Switching between the boostand buck modes may be based on the source of power available on powerbus 16.

In some implementations, power management controller 34 may controlpower conversion controller 32 to enhance switching dead-time withinpower stage 26. In order to monitor and/or enhance switching dead-time,power management controller 34 may monitor operation of power stage 26by power conversion controller 32 via signals generated by one or moresensors. For example, the sensors may include the sensors discussedabove with respect to power stage 26.

According to various implementations, power management controller 34 maymonitor one or more parameters of the operation of power stage 26 bypower conversion controller 32. For example, power management controller34 may monitor one or more of stability margin, loss, temperature,and/or other parameters. In some instances, power management controller34 may identify faults based on one or more of the monitored parameters.Upon detecting a fault, power management controller 34 may adjustoperation of power conversion controller 32 and/or power stage 26.Detected faults may be transmitted by power management controller 34 toa more centralized control (e.g., system management processor 24, shownin FIG. 1).

In some implementations, power management controller 34 may beconfigured on a per-mission basis by receiving mission specific controlparameters and/or programs. The control parameters and/or programs maybe communicated to power management controller 34, for example, overcommunication bus 18. The mission specific parameters may include, forexample, a distance to be traveled, a timing and/or duration ofsurveillance that should be conducted, what type of data should begathered (e.g., what parameter(s) should be monitored), control of theterritory in which the mission is to be conducted (e.g., hostile orfriendly), and/or other parameters.

The inclusion of power stages 26 and power controllers 28 for individualones of system loads 12 provides individualized power interfaces forsystem loads 12. Each individualized set of power stage 26 and powercontroller 28 enables a particular system load 12 to be incorporatedinto the overall power system of system 10 without reconfiguration ofsystem loads 12 and/or system 10. Since power stages 26 and powercontrollers 28 may be designed to facilitate customization to individualsystem load 12, this distributed design may enhance overallcustomization of system 10 to various uses and/or missions.

Load controller 30 may be configured to control the corresponding systemload 12. Controlling the corresponding system load 12 may includecontrolling one or more aspects of the operation of system load 12. Forexample, load controller 30 may control a mode, a timing, a sensitivity,and/or other aspects of the corresponding system load 12. Loadcontroller 30 may transmit commands to system load 12 that dictate theaspects of operation of system load 12. The commands may be determinedby load controller 30 based on one or more mission specific parameters,current operation of one or more of energy supplies 14, currentoperation of one or more other system loads 12, and/or other parameters.In some instances, the commands transmitted from load controller 30 tosystem load 12 may be determined according to control algorithms and/orinstructions executed on load controller 30. In some instances, thecommands transmitted from load controller 30 to system load 12 may bedetermined by translating, reformatting, or otherwise processingcommands received at load controller from an external source (e.g.,system management processor 24 shown in FIG. 1).

By way of non-limiting example, if system load 12 includes a sensor thatdetects an environmental parameter, load controller 30 may transmitcommands to the sensor that control a sensitivity of the sensor, turnthe sensor on and/or off, control a directivity of the sensor, and/orcontrol other aspects of the operation of the sensor.

As another non-limiting example, if system load 12 includes acommunications device, load controller 30 may transmit commands to thedevice that control a frequency, a modulation mode, a power level, adirectivity, a sensitivity, and/or other aspects of the operation of thedevice.

As yet another non-limiting example, if system load 12 includes apropulsion mechanism, load controller 30 may transmit commands to thepropulsion mechanism that control a power level, a speed, a direction ofpropulsion, an efficiency, and/or other aspects of operation of thepropulsion mechanism.

In some instances, system load 12 may include one or more sensors thatdetect information related to the status and/or operation of system load12. In such instances, some or all of this information may becommunicated to load management module 20 (as shown in FIG. 2). Loadmanagement module 20 may implement received information in determiningand/or generating commands for controlling system load 12. Loadmanagement module 20 may transmit the received information to systemmanagement processor 24. System management processor 24 may implementthis information to update instructions for load management module 20and/or other load management modules 20 or supply management modules 22.

As should be apparent from the foregoing, the inclusion of loadcontrollers 30 for individual ones of the system loads 12 providesindividualized control interfaces between system loads 12 and the restof system 10. Each individualized load controller 30 enables aparticular system load 12 to be incorporated into the overall controlsystem of system 10 without reconfiguration of system loads 12 and/orsystem 10. Since power load controllers 30 may be designed to facilitatecustomization to individual system loads 12, this distributed controldesign may enhance overall customization of system 10 to various usesand/or missions.

FIG. 3 illustrates one of supply management modules 22, in accordancewith one or more implementations. In the implementations illustrated inFIG. 3, supply management modules 22 may include one or more of a powerstage 36, a power controller 38, a supply controller 40, and/or othercomponents.

Power stage 36 may be coupled to power bus 16 and a energy supply 14corresponding to supply management module 22. Power may be distributedto power bus 16 from the corresponding energy supply 14 through powerstage 36. Power stage 36 may convert power received from energy supply14 to power suitable for distribution over power bus 16. For example,the potential of power supplied by energy supply 14 may be differentthan the potential of power provided to system loads 12 over power bus16. Power stage 36 may convert other parameters of the received power(e.g., DC to AC or vice versa, and/or other parameters).

Although not shown as separate elements in FIG. 3, power stage 36 mayinclude one or more sensors that detect operational and/or statusinformation related to power stage 36. For example, the one or moresensors may include one or more potential sensors, one or more currentsensors, one or more temperature sensors, and/or other sensors. Theoutput signals generated by the sensors may be transmitted to powercontroller 38, as shown in FIG. 3.

Similar to the function of power controller 28 with respect to powerstage 26, power controller 38 may be configured to control power stage36 during power conversion. In some implementations, power controller 38may include one or more processors having processing and/or controlcapabilities. For example, power controller 38 may include a digitalprocessor, an analog processor, a digital circuit designed to processinformation, an analog circuit designed to process information, a statemachine, and/or other mechanisms for electronically processinginformation. In some implementations, power controller 38 includes aField Programmable Gate Array (“FPGA”) designed to perform some or allof the functionality attributed to power controller 38 below. In someimplementations, power controller 38 is configured by softwareinstructions and/or algorithms, firmware, hardware, and/or somecombination of software, firmware, and/or hardware to perform thefunctionality described below. Although power controller 38 isillustrated in FIG. 3 as a single entity, it should be appreciated thatpower controller 38 may be implemented in a plurality of chips,processors, and/or circuits that are located together or apart from oneanother. In some implementations, power controller 38 may include apower conversion controller 42, a power management controller 44, and/orother components.

Power conversion controller 42 may be configured to control parametersof power stage 36 during power conversion. For example, power conversioncontroller 42 may control one or more gate switches in power stage 36 tomanipulate the operation of power stage 36. During operation, powerconversion controller 42 may control power stage 36 through thegeneration of control signals transmitted to the gates of power stage36. The control signals may be generated to maintain the power providedto power bus 16 with specific parameters and/or to maintain theuniformity of the parameters. The control signals may be generated bypower conversion controller 42 based in part on readings of the sensorsincluded in power stage 36 in a feedback manner. For example, thecontrol signals generated by power conversion controller 42 may bedetermined in a feedback manner based on the reading of one or morecurrent sensors, one or more potential sensors, one or more temperaturesensors, and/or other sensors. The feedback control of power stage 36 bypower conversion controller 42 may ensure the uniformity of powerconverted by power stage 36. By including separate power stages 36 andpower conversion controllers 42 for individual energy supplies 14,system 10 is capable of providing power having relatively highuniformity (e.g., by virtue of the local feedback control implemented bypower conversion controller 30) to power bus 16 from energy supplies 14.

Power management controller 44 may be configured to control powerconversion controller 42 to manage the parameters of the power providedby power stage 36 after conversion. In managing the parameters of thepower provided by power stage 36 after conversion, power managementcontroller 44 may take into account the parameters of the power on powerbus 16, other ones of energy supplies 14 that are simultaneouslyproviding power to power bus 16, the power parameters of power providedby energy supply 14, a mode of operation of power stage 36 and/or energysupply 14, and/or other factors.

For example, power management controller 44 may determine other ones ofenergy supplies 14 concurrently providing power to power bus 16 is(e.g., fuel cell, battery, solar generator, waste energy harvester,and/or other sources). These different energy supplies 14 may providepower to power bus 16 with parameters different from the parametersgenerated by the corresponding energy supply 14 (e.g., differentpolarities, potentials, maximum currents, and/or other parameters).Power management controller 44 may adjust operation of power conversioncontroller 42 to ensure that the provision of power to power bus 16 bythe corresponding energy supply 14 is coordinated with the other ones ofenergy supplies 14 to reduce loss and/or system faults or damage.

As was mentioned above, power management controller 44 may change theoperation of power conversion controller 42 and/or power stage 36between a plurality of modes. For instance, power management controller44 may switch operation of power conversion controller 42 and powerstage 36 from a boost mode to a buck mode. Switching between the boostand buck modes may be based on the other ones of energy supplies 14concurrently providing power to power bus 16. As another example, powermanagement controller 44 may change operation of power conversioncontroller 42 and/or power stage 36 to a low power mode if thecorresponding energy supply 14 is not currently producing power, and/orof the corresponding energy supply 14 is not currently providing powerto power bus 16.

In some implementations, power management controller 44 may controlpower conversion controller 42 to enhance switching dead-time withinpower stage 36. In order to monitor and/or enhance switching dead-time,power management controller 44 may monitor operation of power stage 36by power conversion controller 42 via signals generated by one or moresensors. For example, the sensors may include the sensors discussedabove with respect to power stage 36.

According to various implementations, power management controller 44 maymonitor one or more parameters of the operation of power stage 36 bypower conversion controller 42. For example, power management controller44 may monitor one or more of stability margin, loss, temperature,and/or other parameters of power stage 36. In some instances, powermanagement controller 44 may identify faults based on one or more of themonitored parameters. Upon detecting a fault, power managementcontroller 44 may adjust operation of power conversion controller 42and/or power stage 36. Detected faults may be transmitted by powermanagement controller 44 to a more centralized control (e.g., systemmanagement processor 24, shown in FIG. 1).

In some implementations, power management controller 44 may beconfigured on a per-mission basis by receiving mission specific controlparameters and/or programs. The control parameters and/or programs maybe communicated to power management controller 44, for example, overcommunication bus 18. The mission specific parameters may include, forexample, a distance to be traveled, a timing and/or duration ofsurveillance that should be conducted, what type of data should begathered (e.g., what parameter(s) should be monitored), control of theterritory in which the mission is to be conducted (e.g., hostile orfriendly), and/or other parameters.

As was mentioned above, in some instances, energy supplies 14 mayinclude an energy storage unit. In addition to managing the distributionof power from the energy storage unit to power bus 16, the supplymanagement module 22 corresponding to the energy storage unit may managethe distribution of power from power bus 16 to the energy storage unitfor storage. As such, during power storage, power stage 36 and powercontroller 38 will perform functions similar to those described abovefor power stage 26 and power controller 28 with respect to thedistribution of power from power bus 16 to system loads 12.

The inclusion of power stages 36 and power controllers 38 for individualones of energy supplies 14 provides individualized power interfaces forenergy supplies 14. Each individualized set of power stage 36 and powercontroller 38 enables a particular energy supply 14 to be incorporatedinto the overall power system of system 10 without reconfiguration ofenergy supplies 14 and/or system 10. Since power stages 36 and powercontrollers 38 may be designed to facilitate customization to individualenergy supplies 14, this distributed design may enhance overallcustomization of system 10 to various uses and/or missions.

Supply controller 40 may be configured to control the correspondingenergy supply 14. Controlling the corresponding energy supply 14 mayinclude controlling one or more aspects of the operation of energysupply 14. For example, supply controller 40 may control a mode, atiming, a sensitivity, powering energy supply 14 off and/or on, and/orother aspects of the corresponding energy supply 14. Supply controller40 may transmit commands to energy supply 14 that dictate the aspects ofoperation of energy supply 14. The commands may be determined by supplycontroller 40 based on one or more mission specific parameters, currentoperation of other ones of energy supplies 14, current operation of oneor more system loads 12, and/or other parameters. In some instances, thecommands transmitted from supply controller 40 to energy supply 14 maybe determined according to control algorithms and/or instructionsexecuted on load controller 30. In some instances, the commandstransmitted from supply controller 40 to energy supply 14 may bedetermined by translating, reformatting, or otherwise processingcommands received at supply controller 40 from an external source (e.g.,system management processor 24 shown in FIG. 1).

By way of non-limiting example, if energy supply 14 includes a fuelcell, supply controller 40 may transmit commands to the fuel cell thatturn the fuel cell on and/or off, control a reformation sub-system, acooling system, and/or other sub-systems associated with the fuel cell,and/or control other aspects of the operation of the sensor.

As another non-limiting example, if energy supply 14 includes a wasteenergy harvester, supply controller 40 may transmit commands to thewaste energy harvester that turn the waste energy harvester on and off,control a mode of the waste energy harvester, and/or control otheraspects of the operation of the waste energy harvester.

As yet another non-limiting example, if energy supply 14 includes aparasitic power generator, supply controller 40 may transmit commands tothe parasitic power generator that activate and/or deactivate theparasitic power generator, control a mode of the parasitic powergenerator, and/or control other aspects of the operation of theparasitic power generator.

As yet another non-limiting example, if energy supply 14 includes anenvironmental energy harvester, supply controller 40 may transmitcommands to the environmental energy harvester that activate and/ordeactivate power generation, control a mode of the environmental energyharvester, and/or control other aspects of the operation of theenvironmental energy harvester.

As still another non-limiting example, if energy supply 14 includes anenergy storage unit, supply controller 40 may transmit commands to theenergy storage unit that result in the storage of power in the energystorage unit from power bus 16, result in the distribution of power fromthe energy storage unit to power bus 16, disconnect the energy storageunit from power bus 16, and/or control other aspects of the operation ofthe energy storage unit.

In some instances, energy supply 14 may include one or more sensors thatdetect information related to the status and/or operation of energysupply 14. In such instances, some or all of this information may becommunicated to supply management module 22 (as shown in FIG. 3). Supplycontroller 40 may implement received information in determining and/orgenerating commands for controlling energy supply 14. Supply controller40 may transmit the received information to system management processor24. System management processor 24 may implement this information toupdate instructions for supply management module 22 and/or other supplymanagement modules 22 or load management modules 20.

As should be apparent from the foregoing, the inclusion of supplycontroller 40 for individual ones of the system loads 12 providesindividualized control interfaces between energy supply 14 and the restof system 10. Each individualized supply controller 40 enables aparticular energy supply 14 to be incorporated into the overall controlsystem of system 10 without reconfiguration of system loads 12, energysupplies 14, and/or system 10. Since supply controller 40 may bedesigned to facilitate customization to individual energy supply 14,this distributed control design may enhance overall customization ofsystem 10 to various uses and/or missions.

FIG. 4 illustrates a kinetic energy conversion system 46, in accordancewith one or more implementations. System 46 may be implemented in anoverall system that is configured to power a vehicle or vessel and itsassociated peripherals (e.g., such as system 10 shown in FIG. 1 anddescribed above). System 46 may be implemented, for example, in amaritime vessel. In some implementations, system 46 may include one ormore flow paths 48, one or more impellers 50, a generator 52, and/orother components.

Flow path 48 may be configured to guide fluid past impeller 50. In someimplementations, the fluid may include water in which the vesselcarrying system 46 is sitting and/or moving. If the vessel is beingdriven through the water, flow path 48 may be oriented such that thewater flows through flow path 48 past impeller 50. In some instances,flow path 48 may be carried on the vessel such that it can be retractedor closed off from the water. In such instances, flow path 48 may beretracted or closed off from the water while system 46 is not being usedto generate power.

Impeller 50 may be configured such that a flow of fluid through flowpath 48 drives impeller 50 to rotate. Although impeller 50 isillustrated in FIG. 4 as being held by an axle, this is not intended tobe limiting. Other implementations of impellers may, for instance, beheld by annular tracks around which (or within which) the impeller 50rotates.

Generator 52 may be coupled to one or more of impellers 50. Rotation ofimpellers 50, for example by a flow of fluid through flow path 48, mayresult in the generation of power by generator 52.

In some implementations, impellers 50 may not be driven to rotate withinflow path 48 at a constant rate. For example, the rate at which thefluid flows through flow path 48 may vary causing the rate of rotationof impellers 50 to vary. Coupling impellers 50 directly to generator 52may result in damage to generator 52 and/or reduced efficiency in thepower generation of generator 52 as the rate of impellers 50 changes. Assuch, in some instances, torque converters 54 may be included in system46 between impellers 50 and generator 52. Torque converters 54 mayprovide for relatively constant rotation rate of one or more elementswithin generator 52, thereby enhancing the longevity, efficiency, and/orother aspects of the operation of generator 52.

As has been mentioned above, system 46 may be installed on a maritimevessel. In such a configuration, system 46 may be deployed by openingflow path 48 to the water through which the vessel is moving. This mayresult in a flow of water through flow path 48. The flow of water maycause impeller 50 to rotate, thereby enabling generator 52 to generatepower. It should be appreciated that there may be some loss inaerodynamics associated with exposing flow path 48 to the water throughwhich the vessel is moving. As such, generation of power in this mannermay be somewhat parasitic to the overall vessel. However, the parasiticloss may be small enough and/or the benefits associated with generatingpower through generator 52 during movement may be sufficient to justifythe inefficiencies. Further, at times when the parasitic loss of energyand/or speed becomes greater than can be justified, flow path 48 may beclosed off and/or retracted from the water.

If the vessel including system 46 is at rest (e.g., anchored at a fixedpoint underwater), flow path 48 may be exposed to the water about thevessel. While the vessel is at rest, water may still flow through flowpath 48 due to currents (e.g., tides, flow of rivers or creeks, and/orother currents). In these instances, system 46 may harvest environmentalenergy.

According to various implementations, system 46 may be implemented in apower system that is similar to or the same as the power system ofsystem 10 shown in FIG. 1 and described above. As such, system 46 mayinterface with a supply management module 22 that has been configuredcontrol operation of flow path 48 (exposing flow path 48 to the waterand/or closing flow path 48 from the water), impellers 50, generator 52,and/or other components of system 46. This control may be effected inthe manner discussed above with respect to system 10.

FIG. 5 illustrates a waste energy harvesting system 56, in accordancewith one or more implementations. System 56 may be implemented in anoverall system that is configured to power a vehicle or vessel and itsassociated peripherals (e.g., such as system 10 shown in FIG. 1 anddescribed above). System 56 may be implemented, for example, in amaritime vessel. In some implementations, system 56 may include a fuelcell 58, a chamber 60, a steam generator 62, a first conduit 64, a coldplate 66, a second conduit 68, and/or other components.

Fuel cell 58 may include an electrochemical conversion device. Thedevice may produce electricity from fuel and an oxidant, which react inthe presence of an electrolyte. In some implementations, fuel cell 58may include a solid oxide fuel cell. The operating temperature of fuelcell 58 may be relatively high. System 56 may be configured to harvestwaste energy radiated from fuel cell 58 in the form of heat.

Chamber 60 may be formed around fuel cell 58. A fluid may be presentwithin chamber 60. The fluid may be selected for having a criticaltemperature below the temperature within chamber 60 during operation offuel cell 58. As such, the fluid will vaporize within chamber 60.

Steam generator 62 may be configured to generate power from the flow offluid therethrough. For example, steam generator 62 may include one ormore turbines that are driven by the flow of fluid therethrough. Firstconduit 64 may communicate chamber 60 with steam generator 62 such thatfluid vaporized within chamber 60 is guided through steam generator 62.

Cold plate 66 may be configured to receive vapor that has passed throughsteam generator 62. Cold plate 66 may form a heat sink in which thereceived vapor is cooled back to below its critical temperature so thatit returns to liquid form. Cold plate 66 may be formed as a body havingone or more conduits therein that receive fluid that has passed throughsteam generator 62. In order to facilitate cooling of fluid within theconduits of cold plate 66, cold plate 66 may be in thermal communicationwith the hull of the vessel carrying system 56. For example, the body ofcold plate 66 in which the one or more conduits are formed may be indirect contact with the hull of the vessel. In some implementations, thehull of the vessel itself may form cold plate 66, and have the conduitsformed therein.

Second conduit 68 may receive the cooled fluid from cold plate 66, andmay guide the cooled fluid back to chamber 60. Second conduit 68 mayinclude one or more reservoirs configured to hold bodies of the fluid asthe fluid progresses back toward chamber 60.

According to various implementations, system 56 may be implemented in apower system that is similar to or the same as the power system ofsystem 10 shown in FIG. 1 and described above. As such, system 56 mayinterface with a supply management module 22 that has been configuredcontrol operation of generator 62 and/or the turbines associated withgenerator 62. In some instances, system 56 may include one or morevalves to control the flow of the fluid through the circuit. In suchinstances, supply management module 22 may control the one or morevalves. This control may be effected in the manner discussed above withrespect to system 10.

As was mentioned above cold plate 66 may be formed in thermalcommunication with the hull of the vessel carrying system 56. In someimplementations, cold plate 66 may be configured to increase the areaover which the hull and cold plate 66 are in contact. For example, FIGS.6-8 illustrate instances in which the shape of cold plate 66 has beenconfigured to conform to the shape of a hull 70 of the vessel. This mayincrease the length of the path that fluid within cold plate 66 travelsin thermal connection with hull 70 of the vessel and the water in whichthe vessel is at least partially submerged. Further, the conformance ofthe shape of cold plate 66 with hull 70 of the vessel may increase theeffectiveness of the heat sink formed by cold plate 66 as cold plate 66may be capable of dissipating an enhanced amount of heat to hull 70 andthe water beyond.

FIG. 9 illustrates an environmental energy harvesting system 72, inaccordance with one or more implementations. System 72 may beimplemented in an overall system that is configured to power anunderwater vessel 74 and its associated peripherals (e.g., such assystem 10 shown in FIG. 1 and described above). Vessel 74 may be anunmanned, underwater vessel, and may include a main hull 76. In someimplementations, system 72 may include a sensor module 78, one or moresolar cells 80, and/or other components.

In some instances, sensor module 78 may include one or more sensorsconfigured to monitor one or more environmental parameters. The one ormore environmental parameters may include a temperature, a current, awind speed, an electromagnetic radiation intensity, an electromagneticradiation frequency, radio frequency signals, sonic waves, and/or otherenvironmental parameters.

Sensor module 78 may be buoyant such that it floats on water. Duringdeployment of sensor module 78 for monitoring the one or moreenvironmental parameters, main hull 76 may remain submerged under water.A tether 82 may couple sensor module 78 with main hull 76. In someinstances, tether 82 may include one or more electrical connections thatenable control signals, sensor output signals, power, and/or othersignals to be transmitted between main hull 76 and/or sensor module 78.

The one or more solar cells 80 may, when sensor module 78 is deployed,generate power from electromagnetic radiation received from the sun.Some or all of the power generated from the received electromagneticradiation may be implemented within sensor module 78 to power sensormodule 78. Some or all of the power generated from the receivedelectromagnetic radiation may be transmitted through tether 82 to mainhull 76 for use in the main power system of underwater vessel 74. Forexample, the one or more solar cells 80 may form an energy supply thatis the same as or similar to energy supplies 14 shown in FIG. 1 anddescribed above.

Although the invention has been described in detail for the purpose ofillustration based on what is currently considered to be the mostpractical and preferred embodiments, it is to be understood that suchdetail is solely for that purpose and that the invention is not limitedto the disclosed embodiments, but, on the contrary, is intended to covermodifications and equivalent arrangements that are within the spirit andscope of the appended claims. For example, it is to be understood thatthe present invention contemplates that, to the extent possible, one ormore features of any embodiment can be combined with one or morefeatures of any other embodiment.

What is claimed is:
 1. A system configured to generate power within anunderwater vessel, the system comprising: a fuel cell; a chamber thatholds a liquid in proximity to the fuel cell such that during operationof the fuel cell waste heat generated by the fuel cell vaporizes theliquid; a steam generator having one or more turbines that, when driven,cause power to be generated by the steam generator; a first conduit thatcarries the vaporized liquid from the chamber to the one or moreturbines such that the one or more turbines are driven by the flow ofthe vaporized liquid; a cold plate that receives vaporized liquid thathas passed through the one or more turbines, the cold plate having ashape that corresponds to the shape of a hull of the vessel and is inthermal communication with the hull; and a second conduit that receivescooled liquid from the cold plate and guides the cooled liquid back intothe chamber.
 2. The system of claim 1, wherein an inner surface of thehull of the vessel is substantially the same shape and size as an outersurface of the cold plate.
 3. The system of claim 1, wherein an innersurface of the hull of the vessel is cylindrical and has a first radius,and wherein an outer surface of the cold plate is cylindrical and has asecond radius that is substantially the same as the first radius.
 4. Thesystem of claim 1, further comprising an energy storage unit that iscoupled to the fuel cell and the steam generator and one or more systemloads associated with the underwater vessel, the energy storage unitbeing configured to selectively store power generated by the fuel celland the steam generator, and to selectively power the one or more systemloads.
 5. The system of claim 4, further comprising a power managementsystem configured to determine whether power from the fuel cell, thesteam generator, and/or the energy storage unit is used to power the oneor more system loads at a given time based on one or more parameters ofthe fuel cell, the steam generator, and the energy storage unit, andbased on one or more mission parameters.
 6. The system of claim 1,wherein the vessel is unmanned.
 7. An unmanned underwater vesselconfigured to conduct surveillance, the vessel comprising: a primaryenergy storage unit; a control system; a main hull that houses theprimary energy storage unit and the control system; a sensor module thatis buoyant and generates one or more output signals conveyinginformation about the surroundings of the sensor module, wherein thesensor is deployed from the main hull while the main hull remainssubmerged; one or more solar cells disposed on the sensor module,wherein the one or more solar cells provide power to the vessel.
 8. Thevessel of claim 7, wherein the power generated by the one or more solarcells is transmitted from the one or more solar cells to the primaryenergy storage unit.
 9. The vessel of claim 7, wherein the powergenerated by the one or more solar cells provide power to the sensormodule.
 10. The vessel of claim 7, wherein the primary energy storageunit is configured to selectively provide power to the sensor modulewhen the sensor module is deployed.
 11. The vessel of claim 7, whereinthe one or more output signals generated by the sensor module aretransmitted to the control system.
 12. A vessel comprising: a primaryenergy storage unit; a control system; a main hull that houses theprimary energy storage unit and the control system; one or moreimpellers that are configured for selective exposure to flows of fluidthrough which the vessel is moving, the selective exposure of the one ormore impellers being controlled by the control system; a generatorconnected to the one or more impellers that generates power if the oneor more impellers are exposed to and driven by flows of fluid throughwhich the vessel is moving; and one or more system loads that receivepower generated by the generator.
 13. The vessel of claim 12, whereinthe vessel selectively exposes the one or more impellers to flows offluid through which the vessel is moving based on one or more parametersof the operation of the vessel.
 14. The vessel of claim 12, furthercomprising one or more torque converters coupled to the impellers andthe generators.